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Application of Improved Robust Kalman Filter in Data Fusion for PPP/INS Tightly Coupled Positioning System

Li Z., Yao Y., Wang J., Gao J.

Metrology and Measurement Systems

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2017

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Vol. 24, nr 2

289--301

EN

A robust Kalman filter improved with IGG (Institute of Geodesy and Geophysics) scheme is proposed and used to resist the harmful effect of gross error from GPS observation in PPP/INS (precise point positioning/inertial navigation system) tightly coupled positioning. A new robust filter factor is constructed as a three-section function to increase the computational efficiency based on the IGG principle. The results of simulation analysis show that the robust Kalman filter with IGG scheme is able to reduce the filter iteration number and increase efficiency. The effectiveness of new robust filter is demonstrated by a real experiment. The results support our conclusion that the improved robust Kalman filter with IGG scheme used in PPP/INS tightly coupled positioning is able to remove the ill effect of gross error in GPS pseudorange observation. It clearly illustrates that the improved robust Kalman filter is very effective, and all simulated gross errors added to GPS pseudorange observation are successfully detected and modified.

2

Modification of robust filtering of stratified surface topography

Dobrzański P., Pawlus P.

Metrology and Measurement Systems

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2013

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Vol. 20, nr 1

107-118

EN

Various components of surface texture are identified, namely form, waviness and roughness. Separation of these components is done by digital filtering. Several problems exist during analysis of two-process surfaces. Therefore the Gaussian robust profile filtering technique was established and has been studied here. The computer generated 2D profiles and 3D surface topographies having triangular scratches as well as measured stratified surfaces were subjected to filtration. However even robust filter applications cause distortion of profiles having valleys wider than 100 ěm. In order to minimize the distortion associated with wide and deep valleys, the robust filter should be modified. A special procedure was elaborated for minimizing distortion of roughness profiles caused by filtration. Application of this method to analyses of several profiles was presented. The difference between 1-D and 2-D filtering of surface topography using the same kind of filter was discussed. As a result we found that modification of a 2-D surface topography filter was not necessary.

3

Measurement process parameter estimation robust with respect to pulseinterferences and noise

Holiczer A., Grishin Y.

Przegląd Elektrotechniczny

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2010

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R. 86, nr 3

28-29

PL

W artykule zaprezentowano problem estymacji procesów fizykochemicznych w obecności zakłóceń impulsowych oraz szumu pomiarowego. Omawianym procesem będzie sygnał wyjściowy z przetwornika pomiarowego wykorzystywanego w fotometrii płomieniowej. Estymacja zostanie przeprowadzona w obecności licznych anomalii oraz szumu pomiarowego, dlatego zostanie zastosowany krzepki algorytm filtracji. Zaprezentowany algorytm zostanie zaimplementowany w rzeczywistym systemie pomiarowym w celu udowodnienia jego skuteczności.

4

The class of M-filters in the application of ECG signal processing

Pander T.

Biocybernetics and Biomedical Engineering

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2006

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Vol. 26, no. 4

3-13

EN

The main purpose of this paper is to present some advantages of nonlinear filtering of biomedical signals. The nonlinear M-filters are considered in this paper to suppress specific kind of noise - an impulsive noise in high resolution ECG signal. The impulsive noise can be modeled by symmetric \alfa-stable distribution (S\alfaS). The following type of M-filters are used in this work: median filter, myriad filter and five M-filter characterized by their cost function (skipped median, Andrew's sine, Tukey's biweight, standard M-filter, arc tangent M-filter). Their ability to suppress the impulsive noise is tested with a high resolution ECG signal that is corrupted by artificial noise and real muscle noise.